Topology, dynamics and control of a muscle architected soft arm

This repository corresponds to the software and case files for running our work published as Topology, dynamics and control of a muscle architected soft arm . At the backend we are using PyElastica software for simulations.

Installation

Our software runs on python and some other dependencies which can be installed easily using pip. Below are steps of how to install .

1. Clone!

First create the fork repository and clone to your local machine.

2. Virtual python workspace: conda.

We recommend using python version above 3.9.

conda create --name topology-dynamics-control-of-octopus-env
conda activate topology-dynamics-control-of-octopus-env
conda install python=3.9
pip install -r requirements.txt
conda install -c conda-forge ffmpeg

How to run cases

After successfully completing the installation, you can run the case files for the simulations in Cases directory. In order to run the simulation files, please change the bash directory to the directory of the simulation you would like to run and type following command.

python run_script.py

Following the successful completion of the simulation corresponding videos and data will be saved inside the same directory.